Adaptive tracking control of a toggle mechanism for the electric injection molding machines

In this study, adaptive tracking control (ATC) is presented for a toggle mechanism of electric injection molding machines in the presence of uncertainties and disturbances during closing operations. The controls are developed based on mathematical knowledge of the toggle mechanism and the permanent magnet synchronous motor (PMSM). The proposed controls are robust not only to parametric uncertainties of mass variations but also to external disturbances. The system stability of tracking errors is proven by using Lyapunov stability theorem. During the closing operation, the trapezoidal and double S trajectory profiles are designed for the motion trajectory control. The effectiveness of the proposed ATC is demonstrated by numerical simulations and experimental in the closing processes for a toggle mechanism of the electric injection molding machines.